diff --git a/orbbec_description/urdf/gemini2.urdf.xacro b/orbbec_description/urdf/gemini_2.urdf.xacro
similarity index 95%
rename from orbbec_description/urdf/gemini2.urdf.xacro
rename to orbbec_description/urdf/gemini_2.urdf.xacro
index ed9376b3..dab6f664 100755
--- a/orbbec_description/urdf/gemini2.urdf.xacro
+++ b/orbbec_description/urdf/gemini_2.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini2">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_2">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2/" />
   <link
     name="camera_link">
@@ -468,4 +468,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini2L.urdf.xacro b/orbbec_description/urdf/gemini_2_L.urdf.xacro
similarity index 95%
rename from orbbec_description/urdf/gemini2L.urdf.xacro
rename to orbbec_description/urdf/gemini_2_L.urdf.xacro
index 54212e04..27064d92 100644
--- a/orbbec_description/urdf/gemini2L.urdf.xacro
+++ b/orbbec_description/urdf/gemini_2_L.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini2l">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_2_L">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2l/" />
   <link
     name="camera_link">
@@ -521,4 +521,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini335L_336L.urdf.xacro b/orbbec_description/urdf/gemini_335_L_336_L.urdf.xacro
similarity index 95%
rename from orbbec_description/urdf/gemini335L_336L.urdf.xacro
rename to orbbec_description/urdf/gemini_335_L_336_L.urdf.xacro
index 2b35eed7..676e76f2 100644
--- a/orbbec_description/urdf/gemini335L_336L.urdf.xacro
+++ b/orbbec_description/urdf/gemini_335_L_336_L.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_335L_336L">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_335_L_336_L">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335L_336L/" />
   <link
     name="camera_link">
@@ -521,4 +521,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini335Le.urdf.xacro b/orbbec_description/urdf/gemini_335_Le.urdf.xacro
similarity index 98%
rename from orbbec_description/urdf/gemini335Le.urdf.xacro
rename to orbbec_description/urdf/gemini_335_Le.urdf.xacro
index 1361d5f0..2f42a462 100755
--- a/orbbec_description/urdf/gemini335Le.urdf.xacro
+++ b/orbbec_description/urdf/gemini_335_Le.urdf.xacro
@@ -3,7 +3,7 @@
 Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini335Le">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_335_Le">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335Le/" />
 
    <link
@@ -341,4 +341,4 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini335Lg.urdf.xacro b/orbbec_description/urdf/gemini_335_Lg.urdf.xacro
similarity index 99%
rename from orbbec_description/urdf/gemini335Lg.urdf.xacro
rename to orbbec_description/urdf/gemini_335_Lg.urdf.xacro
index 4ef5749a..1833333a 100755
--- a/orbbec_description/urdf/gemini335Lg.urdf.xacro
+++ b/orbbec_description/urdf/gemini_335_Lg.urdf.xacro
@@ -3,7 +3,7 @@
 Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini335_336Lg">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_335_Lg">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335Lg/" />
 
     <link
@@ -523,4 +523,4 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/test_gemini2.urdf.xacro b/orbbec_description/urdf/test_gemini_2.urdf.xacro
similarity index 84%
rename from orbbec_description/urdf/test_gemini2.urdf.xacro
rename to orbbec_description/urdf/test_gemini_2.urdf.xacro
index 3e23075c..92e8ba9e 100644
--- a/orbbec_description/urdf/test_gemini2.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_2.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini2" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini2.urdf.xacro"/>
+<robot name="gemini_2" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_2.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini2L.urdf.xacro b/orbbec_description/urdf/test_gemini_2_L.urdf.xacro
similarity index 84%
rename from orbbec_description/urdf/test_gemini2L.urdf.xacro
rename to orbbec_description/urdf/test_gemini_2_L.urdf.xacro
index ec7195a4..ce993542 100644
--- a/orbbec_description/urdf/test_gemini2L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_2_L.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini2L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini2L.urdf.xacro"/>
+<robot name="gemini_2_L" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_2_L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini336L.urdf.xacro b/orbbec_description/urdf/test_gemini_335_L.urdf.xacro
similarity index 83%
rename from orbbec_description/urdf/test_gemini336L.urdf.xacro
rename to orbbec_description/urdf/test_gemini_335_L.urdf.xacro
index aada3158..a4046186 100644
--- a/orbbec_description/urdf/test_gemini336L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_335_L.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini336L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335L_336L.urdf.xacro"/>
+<robot name="gemini_335_L" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_335_L_336_L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini335Le.urdf.xacro b/orbbec_description/urdf/test_gemini_335_Le.urdf.xacro
similarity index 83%
rename from orbbec_description/urdf/test_gemini335Le.urdf.xacro
rename to orbbec_description/urdf/test_gemini_335_Le.urdf.xacro
index 72d902c9..82e2338c 100644
--- a/orbbec_description/urdf/test_gemini335Le.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_335_Le.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini335Le" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335Le.urdf.xacro"/>
+<robot name="gemini_335_Le" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_335_Le.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini335Lg.urdf.xacro b/orbbec_description/urdf/test_gemini_335_Lg.urdf.xacro
similarity index 83%
rename from orbbec_description/urdf/test_gemini335Lg.urdf.xacro
rename to orbbec_description/urdf/test_gemini_335_Lg.urdf.xacro
index 7e391f58..ae918af6 100644
--- a/orbbec_description/urdf/test_gemini335Lg.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_335_Lg.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini335Lg" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335Lg.urdf.xacro"/>
+<robot name="gemini_335_Lg" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_335_Lg.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini335L.urdf.xacro b/orbbec_description/urdf/test_gemini_336_L.urdf.xacro
similarity index 83%
rename from orbbec_description/urdf/test_gemini335L.urdf.xacro
rename to orbbec_description/urdf/test_gemini_336_L.urdf.xacro
index 4556cad0..2dcb06c5 100644
--- a/orbbec_description/urdf/test_gemini335L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini_336_L.urdf.xacro
@@ -2,8 +2,8 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="gemini335L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335L_336L.urdf.xacro"/>
+<robot name="gemini_336_L" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_335_L_336_L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>